CN109031303A - Vehicle checking method and device based on radar range finding technology - Google Patents
Vehicle checking method and device based on radar range finding technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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Abstract
The invention discloses a kind of vehicle checking method and device based on radar range finding technology generates difference frequency signal by the way that the transmitting signal and echo-signal of radar are carried out Frequency mixing processing；The difference frequency signal is subjected to intermediate frequency filtering processing and enhanced processing, and generates digital signal data；Weaken the secondary lobe waveform of the digital signal data by adding Hamming forms；It converts to obtain the low-frequency data of the digital signal data by CZT；The low-frequency data is compared with preset threshold and judges whether front has vehicle；It takes pictures to obtain better detection effect by the combination of microwave transmitting and receiving and CZT algorithm and more accurately trigger camera, can be used for that passway camera is replaced to trigger car test and gate cracking protection car test etc., the advantages such as speed is fast, and judgement precision is high, and construction and installation are convenient with detecting.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a vehicle detection method based on a radar ranging technology and a device applying the method.
Background
In the field of intelligent transportation, a detector is a widely used device and is used for collecting traffic information and controlling traffic control equipment. At present, a commonly used vehicle detector mainly includes: coil detectors, video detectors, radar detectors, and the like.
A coil detector: the coil is used as an inductance coil, and the inductance of the coil is related to the magnetic permeability of the space around the coil; when the vehicle passes through or stays in the coil area, the magnetic permeability of the surrounding space can be changed by the magnetic conductive material of the vehicle body, so that the inductance of the coil is changed. The passing or existence of the vehicle can be detected by detecting the change of the inductance of the coil. However, in practical use, the coil detector needs to cut off the road surface and embed the coil, which affects traffic passage and brings great labor and material cost for subsequent maintenance.
A video detector: the image segmentation is realized through image processing technologies such as background difference, binarization and the like, and further the detection of the vehicle is realized. Although the video detector can reliably detect the existence of vehicles passing on the road surface, the motion speed cannot be acquired, the video technology is greatly influenced by the use environment, and the influence of rain and fog weather on imaging and the influence of night light on the use effect are large.
A radar detector: the existence and the movement speed of the vehicles passing through the road surface can be reliably detected by a radar speed measurement method. At present, a great number of microwave speed measuring radars are installed and used for irradiating a target by transmitting a single-frequency continuous wave signal, receiving an echo signal reflected by the target, and detecting whether the target exists and measuring the target speed by using a Doppler speed measuring principle.
However, since radar is greatly affected by threshold selection and noise, vehicle detection is usually performed in combination with a video detector: a narrow beam is formed by microwave signals under the action of an antenna to project an electric wave irradiation area on a road surface, once an automobile enters the area, a radar can detect the narrow beam, and a camera is triggered to take a picture; however, the radio wave irradiation area is not accurately controlled due to the influence of the antenna side lobe in practical engineering, and the method cannot obtain the distance information of the vehicle, so that the trigger signal to the camera is inaccurate, and some data are invalid.
Disclosure of Invention
The invention provides a vehicle detection method and device based on a radar ranging technology, which aim to solve the problems and can obtain a better detection effect and trigger a camera to take a picture more accurately by combining microwave transceiving and a CZT algorithm.
In order to achieve the purpose, the invention adopts the technical scheme that:
a vehicle detection method based on a radar ranging technology comprises the following steps:
a. carrying out frequency mixing processing on a transmitting signal and an echo signal of a radar to generate a difference frequency signal;
b. carrying out intermediate frequency filtering processing and amplification processing on the difference frequency signal, and generating digital signal data;
c. attenuating sidelobe waveforms of the digital signal data by adding a hamming window;
d. obtaining low-frequency data of the digital signal data through CZT conversion;
e. and comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
Preferably, the step a further comprises:
a1. generating 150-300Hz sawtooth waves in real time;
a2. modulating the sawtooth wave into a 24G microwave waveform to obtain a transmitting signal;
a3. receiving a reflected echo signal;
a4. and performing frequency mixing processing on the transmitting signal and the echo signal to generate a difference frequency signal.
Preferably, the hamming window adding algorithm in step c is as follows:
wherein x (N) represents the digital signal data, N represents a signal sequence of the digital signal data, L represents a sequence length of the digital signal data, and N represents the number of data acquired in one acquisition cycle of the digital signal data.
Preferably, said step d further comprises:
d1. mixing the digital signal data x (n) withMultiplying corresponding complex numbers to obtain a sequence g (n), and filling zero behind the sequence g (n) and lengthening the sequence g (n) to L; the calculation formula is as follows:
wherein x (n) represents the digital signal data, and A represents the starting vector length and the starting angle of data acquisition; omega represents the helix extension rate and the interval angle of data acquisition; g (n) represents a new sequence generated after operation;
d2. obtaining convolution G (r) of the sequence G (n) through FFT operation; the calculation formula is as follows:
wherein G (r) is the convolution of G (n) sequence, i.e. the result of G (n) Fourier transform; wLIs an exp (-j2 pi/L) constant; r is the following table of the transformed data G (r); n is more than or equal to 0 and less than or equal to L-1;
d3. carrying out complex multiplication on the convolution G (r) and H (r) stored in the flash to obtain a sequence Q (r); the calculation formula is as follows:
Q(r)＝G(r)*H(r)，(0<＝r<＝L)；
wherein H (r) is the convolution of H (n), and H (n) is divided into two parts: when N is not less than 0 and not more than N-1, h (N) ═ exp (-j2 pi (-N2/2)/16/256); when N is less than or equal to N and less than or equal to L-1, h (N) is exp (-j2 pi (- (N-L) 2/2)/16/256);
d4. performing IFFT operation on the Q (n) to obtain a sequence Q (r), wherein the calculation formula is as follows:
d5. taking the first 256 data of the sequence q (r) and storing the data in the flashCarrying out multiplication to obtain a new complex number sequence X (z); the calculation formula is as follows:
d6. and obtaining a plurality of modes of the X (z) by a table look-up method to obtain the low-frequency data of the digital signal data.
Preferably, said step e further comprises:
e1. obtaining the low frequency dataCenter frequency f of echo signaldAnd an amplitude value;
e2. calculating the distance R of the vehicle through a distance calculation formula:
or,
wherein, C0Which is representative of the speed of the light,△f represents the bandwidth, f represents the sawtooth frequency, T represents the period, and T is 1/f;
e3. and when the distance R is judged to be smaller than the preset threshold value of the distance and the amplitude value is larger than the preset threshold value of the reflection intensity, judging that a vehicle exists in front.
Correspondingly, the invention also provides a vehicle detection device based on the radar ranging technology, which comprises the following components:
the frequency mixer is used for carrying out frequency mixing processing on a transmitting signal and an echo signal of the radar to generate a difference frequency signal;
the intermediate frequency filter and the amplifier are used for performing intermediate frequency filtering processing and amplification processing on the difference frequency signal and generating digital signal data;
a windowing module weakening a side lobe waveform of the digital signal data by adding a Hamming window;
a CZT conversion module for obtaining low frequency data of the digital signal data through CZT conversion;
and the vehicle judging module is used for comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
The invention has the beneficial effects that:
the invention relates to a vehicle detection method and a device based on a radar ranging technology, which generate a difference frequency signal by performing frequency mixing processing on a transmitting signal and an echo signal of a radar; carrying out intermediate frequency filtering processing and amplification processing on the difference frequency signal, and generating digital signal data; attenuating sidelobe waveforms of the digital signal data by adding a hamming window; obtaining low-frequency data of the digital signal data through CZT conversion; comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front; therefore, better detection effect and more accurate shooting of the trigger camera are obtained through the combination of microwave transceiving and the CZT algorithm, the method can be used for replacing a channel camera to trigger vehicle detection, barrier gate anti-smashing vehicle detection and the like, and has the advantages of high detection speed, high judgment precision, convenience in construction and installation and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a simplified flow chart of a vehicle detection method based on radar ranging technology according to the present invention;
fig. 2 is a schematic structural diagram of a vehicle detection device based on a radar ranging technique according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more clear and obvious, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present invention provides a vehicle detection method based on radar ranging technology, which comprises the following steps:
a. carrying out frequency mixing processing on a transmitting signal and an echo signal of a radar to generate a difference frequency signal;
b. carrying out intermediate frequency filtering processing and amplification processing on the difference frequency signal, and generating digital signal data;
c. attenuating sidelobe waveforms of the digital signal data by adding a hamming window;
d. obtaining low-frequency data of the digital signal data through CZT conversion;
e. and comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
The step a further comprises:
a1. generating 150-300Hz sawtooth waves in real time;
a2. modulating the sawtooth wave into a 24G microwave waveform to obtain a transmitting signal;
a3. receiving a reflected echo signal;
a4. and performing frequency mixing processing on the transmitting signal and the echo signal to generate a difference frequency signal.
In the embodiment, the radar adopts an FMCW working mode, namely, the voltage controls the transmitting frequency, the fundamental frequency of a K-band radar is 24GHz, the radar bandwidth reaches 1000MHz, the voltage variation range of sawtooth waves is 0-3.3V, the transmitting frequency variation range of a radar antenna is 24-25GHz, and the transmitting frequency linearly varies according to the variation of the voltage. The instantaneous received signal at any instant in time has a frequency lower than the instantaneous transmit frequency (for a sawtooth ramp profile) because the sensor transmit frequency has increased at the same instant in time. If the transmit signal and the receive signal are mixed in a mixer, the difference frequency signal f is generateddAnd the distance information of the detected vehicle is contained. Also, the higher this frequency, the further the object is.
The hamming window adding algorithm in the step c is as follows:
wherein x (N) represents the digital signal data, N represents a signal sequence of the digital signal data, L represents a sequence length of the digital signal data, and N represents the number of data acquired in one acquisition cycle of the digital signal data; preferably, N is 256. By adopting the Hamming window adding algorithm, the sidelobe waveform is weakened, and the amplitude of the main lobe waveform is not influenced.
The step d further comprises:
d1. mixing the digital signal data x (n) withMultiplying corresponding complex numbers to obtain a sequence g (n), and filling zero behind the sequence g (n) and lengthening the sequence g (n) to L; the calculation formula is as follows:
wherein x (n) represents the digital signal data, a represents a start vector length and a start angle of data acquisition, preferably, the start angle is 0, and the start vector length is a unit circle with a radius of 1; omega represents the spiral line extension rate and the interval angle of data acquisition, preferably, the extension rate coefficient is 1, and the interval angle is 2 pi/16/256 respectively; g (n) represents a new sequence generated after the operation, and preferably, the total length L is 512; the data of g (N) comprises two parts, and when N is more than or equal to 0 and less than or equal to N-1, the data adopts the calculation formula of d 1; when N is more than or equal to N and less than or equal to L-1, the data is 0;
d2. obtaining convolution G (r) of the sequence G (n) through FFT operation; the calculation formula is as follows:
wherein G (r) is the convolution of G (n) sequence, i.e. the result of G (n) Fourier transform; wLIs an exp (-j2 pi/L) constant; r is the following table of the transformed data G (r); n is more than or equal to 0 and less than or equal to L-1;
d3. carrying out complex multiplication on the convolution G (r) and H (r) stored in the flash to obtain a sequence Q (r); the calculation formula is as follows:
Q(r)＝G(r)*H(r)，(0<＝r<＝L)；
wherein H (r) is the convolution of H (n), and H (n) is divided into two parts: when N is not less than 0 and not more than N-1, h (N) ═ exp (-j2 pi (-N2/2)/16/256); when N is less than or equal to N and less than or equal to L-1, h (N) is exp (-j2 pi (- (N-L) 2/2)/16/256); as can be seen from this equation, in the case where N and L are determined, the convolution H (r) of H (N) is fixed, so flash can be written.
d4. Performing IFFT operation on the Q (n) to obtain a sequence Q (r), wherein the calculation formula is as follows:
d5. taking the first 256 data of the sequence q (r) and storing the data in the flashCarrying out multiplication to obtain a new complex number sequence X (z); the calculation formula is as follows:
d6. and obtaining a plurality of modes of the X (z) by a table look-up method to obtain the low-frequency data of the digital signal data. The table look-up method is to make a table by using the relation between the trigonometric functions tan and cos.
In the embodiment, the number of operation points and the frequency need to be refined, and the CZT algorithm is completely written by an assembler and is superior to the C program operation speed. In addition, the volume data and the intermediate data in the operation are stored in a read-only constant area of the flash according to an array, and the processing speed of the data is further improved by using a table look-up method.
The step e further comprises:
e1. obtaining the central frequency f of the echo signal according to the low-frequency datadAnd an amplitude value;
e2. calculating the distance R of the vehicle through a distance calculation formula:
or,
wherein, C0Which is representative of the speed of the light,△f represents the bandwidth, f represents the sawtooth frequency, T represents the period, and T is 1/f;
e3. and when the distance R is judged to be smaller than the preset threshold value of the distance and the amplitude value is larger than the preset threshold value of the reflection intensity, judging that a vehicle exists in front.
Wherein the center frequency of the echo signal is the difference frequency signal fd；
Radar wave transmission-to-reception time t 0:
transmission frequency unit time variation fk:
Sending a signal andfrequency difference f of received signald:
The distance is the distance between a detected vehicle and a vehicle detection device, and the position of a reflecting object from a vehicle detector is obtained in real time, and the vehicle surface is made of metal materials, so that the electromagnetic wave reflection effect is strong; when the difference frequency of the echo is equal to the modulation frequency (sawtooth frequency), i.e. fdF, the distance R is obtained as 0.15m, which is the minimum distance for the decision. In addition to the detection of the vehicle, it is also possible to detect an object other than the vehicle, such as a pedestrian, an animal, or the like, by adjusting the determination sensitivity and the determination distance.
As shown in fig. 2, the present invention also provides a vehicle detection device based on radar ranging technology, which includes:
the frequency mixer is used for carrying out frequency mixing processing on a transmitting signal and an echo signal of the radar to generate a difference frequency signal;
the intermediate frequency filter and the amplifier are used for performing intermediate frequency filtering processing and amplification processing on the difference frequency signal and generating digital signal data;
a windowing module weakening a side lobe waveform of the digital signal data by adding a Hamming window;
a CZT conversion module for obtaining low frequency data of the digital signal data through CZT conversion;
and the vehicle judging module is used for comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
In this embodiment, the radar operates in a K-band wave, and adopts an FMCW operating mode, and the radar has a digital frequency synthesizer, an amplifier, a transmitting/receiving antenna, a mixer, a filter, a phase shifter, and the like. When the system works, firstly, a stm32 single chip microcomputer generates 150-300Hz sawtooth waves in real time, a front-end radar modulates voltage signals into frequency changes, the frequency changes are sent out through an antenna, the frequency changes are mixed with the waveform of a real-time receiving antenna, the real-time receiving waveform is output to a DAC pin of the stm32 single chip microcomputer through an intermediate frequency filter and an amplifier, and the DAC pin collects the real-time waveform to generate digital signal data; then, frequency domain data are obtained through windowing Z transformation, and then the existence of the vehicle is judged through a vehicle detection algorithm. The method can be used for replacing a channel camera to trigger vehicle inspection, barrier gate anti-smashing vehicle inspection and the like. The method has the advantages of high detection speed, high judgment precision, convenience in construction and installation and the like.
When the vehicle detection device is applied to the entrance and exit of the parking lot, the detection distance can reach 0.15-5.5m, compared with the traditional vehicle detection radar, the short-distance detection is emphasized, the detection blind area is 0.15m, the vehicle judgment speed is high, the judgment precision is high, and the millisecond-level response can be realized in the entrance and exit detection of the parking lot.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
While the above description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A vehicle detection method based on a radar ranging technology is characterized by comprising the following steps:
a. carrying out frequency mixing processing on a transmitting signal and an echo signal of a radar to generate a difference frequency signal;
b. carrying out intermediate frequency filtering processing and amplification processing on the difference frequency signal, and generating digital signal data;
c. attenuating sidelobe waveforms of the digital signal data by adding a hamming window;
d. obtaining low-frequency data of the digital signal data through CZT conversion;
e. and comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
2. The vehicle detection method according to claim 1, characterized in that: the step a further comprises:
a1. generating 150-300Hz sawtooth waves in real time;
a2. modulating the sawtooth wave into a 24G microwave waveform to obtain a transmitting signal;
a3. receiving a reflected echo signal;
a4. and performing frequency mixing processing on the transmitting signal and the echo signal to generate a difference frequency signal.
3. The vehicle detection method according to claim 1, characterized in that: the hamming window adding algorithm in the step c is as follows:
wherein x (N) represents the digital signal data, N represents a signal sequence of the digital signal data, L represents a sequence length of the digital signal data, and N represents the number of data acquired in one acquisition cycle of the digital signal data.
4. The vehicle detection method according to claim 3, characterized in that: the step d further comprises:
d1. mixing the digital signal data x (n) withMultiplying corresponding complex numbers to obtain a sequence g (n), and filling zero behind the sequence g (n) and lengthening the sequence g (n) to L; the calculation formula is as follows:
wherein x (n) represents the digital signal data, and A represents the starting vector length and the starting angle of data acquisition; omega represents the helix extension rate and the interval angle of data acquisition; g (n) represents a new sequence generated after operation;
d2. obtaining convolution G (r) of the sequence G (n) through FFT operation; the calculation formula is as follows:
wherein G (r) is the convolution of G (n) sequence, i.e. the result of G (n) Fourier transform; wLIs an exp (-j2 pi/L) constant; r is the following table of the transformed data G (r); n is more than or equal to 0 and less than or equal to L-1;
d3. carrying out complex multiplication on the convolution G (r) and H (r) stored in the flash to obtain a sequence Q (r); the calculation formula is as follows:
Q(r)＝G(r)*H(r)，(0<＝r<＝L)；
wherein H (r) is the convolution of H (n), and H (n) is divided into two parts: when N is not less than 0 and not more than N-1, h (N) ═ exp (-j2 pi (-N2/2)/16/256); when N is less than or equal to N and less than or equal to L-1, h (N) is exp (-j2 pi (- (N-L) 2/2)/16/256);
d4. performing IFFT operation on the Q (n) to obtain a sequence Q (r), wherein the calculation formula is as follows:
d5. taking the first 256 data of the sequence q (r) and storing the data in the flashCarrying out multiplication to obtain a new complex number sequence X (z); the calculation formula is as follows:
d6. and obtaining a plurality of modes of the X (z) by a table look-up method to obtain the low-frequency data of the digital signal data.
5. The vehicle detection method according to any one of claims 1 to 4, characterized in that: the step e further comprises:
e1. obtaining the central frequency f of the echo signal according to the low-frequency datadAnd an amplitude value;
e2. calculating the distance R of the vehicle through a distance calculation formula:
or,
wherein, C0representing the light velocity,. DELTA.f the bandwidth, f the sawtooth frequency, T the period, and T1/f;
e3. and when the distance R is judged to be smaller than the preset threshold value of the distance and the amplitude value is larger than the preset threshold value of the reflection intensity, judging that a vehicle exists in front.
6. A vehicle detection device based on radar ranging technology, characterized by comprising:
the frequency mixer is used for carrying out frequency mixing processing on a transmitting signal and an echo signal of the radar to generate a difference frequency signal;
the intermediate frequency filter and the amplifier are used for performing intermediate frequency filtering processing and amplification processing on the difference frequency signal and generating digital signal data;
a windowing module weakening a side lobe waveform of the digital signal data by adding a Hamming window;
a CZT conversion module for obtaining low frequency data of the digital signal data through CZT conversion;
and the vehicle judging module is used for comparing the low-frequency data with a preset threshold value and judging whether a vehicle exists in front.
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| 钟鹏: "FMCW雷达近程测距系统的设计与研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109558108A (en) * | 2018-11-29 | 2019-04-02 | 成都锐芯盛通电子科技有限公司 | Phased-array radar phase shifter algorithm based on FPGA |
| CN111856493A (en) * | 2019-04-25 | 2020-10-30 | 北醒（北京）光子科技有限公司 | Camera triggering device and method based on laser radar |
| TWI876198B (en) * | 2022-08-22 | 2025-03-11 | 明泰科技股份有限公司 | Target detection method, target detection device and millimeter wave radar system |
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